/* USER CODE BEGIN Header */
/**
  ******************************************************************************
  * File Name          : freertos.c
  * Description        : Code for freertos applications
  ******************************************************************************
  * @attention
  *
  * Copyright (c) 2024 STMicroelectronics.
  * All rights reserved.
  *
  * This software is licensed under terms that can be found in the LICENSE file
  * in the root directory of this software component.
  * If no LICENSE file comes with this software, it is provided AS-IS.
  *
  ******************************************************************************
  */
/* USER CODE END Header */

/* Includes ------------------------------------------------------------------*/
#include "FreeRTOS.h"
#include "task.h"
#include "main.h"
#include "cmsis_os.h"

/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */
#include "CAN_receive.h"
#include "stdio.h"
#include "seekfree.h"
#include "lowpass_filter.h"
#include <Kalman.h>
#include "LED.h"
#include "Start.h"

/* USER CODE END Includes */

/* Private typedef -----------------------------------------------------------*/
/* USER CODE BEGIN PTD */

/* USER CODE END PTD */

/* Private define ------------------------------------------------------------*/
/* USER CODE BEGIN PD */

/* USER CODE END PD */

/* Private macro -------------------------------------------------------------*/
/* USER CODE BEGIN PM */

/* USER CODE END PM */

/* Private variables ---------------------------------------------------------*/
/* USER CODE BEGIN Variables */

/* USER CODE END Variables */
osThreadId LEDTaskHandle;
osThreadId DebugTaskHandle;
osThreadId ManageTaskHandle;
osThreadId Pitch_TaskHandle;
osThreadId FireTaskHandle;

/* Private function prototypes -----------------------------------------------*/
/* USER CODE BEGIN FunctionPrototypes */

/* USER CODE END FunctionPrototypes */

void StartLEDTask(void const * argument);
void StartDebugTask(void const * argument);
void StartManageTask(void const * argument);
void StartPitch_Task(void const * argument);
void StartFireTask(void const * argument);

void MX_FREERTOS_Init(void); /* (MISRA C 2004 rule 8.1) */

/* GetIdleTaskMemory prototype (linked to static allocation support) */
void vApplicationGetIdleTaskMemory( StaticTask_t **ppxIdleTaskTCBBuffer, StackType_t **ppxIdleTaskStackBuffer, uint32_t *pulIdleTaskStackSize );

/* USER CODE BEGIN GET_IDLE_TASK_MEMORY */
static StaticTask_t xIdleTaskTCBBuffer;
static StackType_t xIdleStack[configMINIMAL_STACK_SIZE];

void vApplicationGetIdleTaskMemory( StaticTask_t **ppxIdleTaskTCBBuffer, StackType_t **ppxIdleTaskStackBuffer, uint32_t *pulIdleTaskStackSize )
{
  *ppxIdleTaskTCBBuffer = &xIdleTaskTCBBuffer;
  *ppxIdleTaskStackBuffer = &xIdleStack[0];
  *pulIdleTaskStackSize = configMINIMAL_STACK_SIZE;
  /* place for user code */
}
/* USER CODE END GET_IDLE_TASK_MEMORY */

/**
  * @brief  FreeRTOS initialization
  * @param  None
  * @retval None
  */
void MX_FREERTOS_Init(void) {
  /* USER CODE BEGIN Init */

  /* USER CODE END Init */

  /* USER CODE BEGIN RTOS_MUTEX */
  /* add mutexes, ... */
  /* USER CODE END RTOS_MUTEX */

  /* USER CODE BEGIN RTOS_SEMAPHORES */
  /* add semaphores, ... */
  /* USER CODE END RTOS_SEMAPHORES */

  /* USER CODE BEGIN RTOS_TIMERS */
  /* start timers, add new ones, ... */
  /* USER CODE END RTOS_TIMERS */

  /* USER CODE BEGIN RTOS_QUEUES */
  /* add queues, ... */
  /* USER CODE END RTOS_QUEUES */

  /* Create the thread(s) */
  /* definition and creation of LEDTask */
  osThreadDef(LEDTask, StartLEDTask, osPriorityIdle, 0, 128);
  LEDTaskHandle = osThreadCreate(osThread(LEDTask), NULL);

  /* definition and creation of DebugTask */
  osThreadDef(DebugTask, StartDebugTask, osPriorityHigh, 0, 256);
  DebugTaskHandle = osThreadCreate(osThread(DebugTask), NULL);

  /* definition and creation of ManageTask */
  osThreadDef(ManageTask, StartManageTask, osPriorityHigh, 0, 256);
  ManageTaskHandle = osThreadCreate(osThread(ManageTask), NULL);

  /* definition and creation of Pitch_Task */
  osThreadDef(Pitch_Task, StartPitch_Task, osPriorityNormal, 0, 256);
  Pitch_TaskHandle = osThreadCreate(osThread(Pitch_Task), NULL);

  /* definition and creation of FireTask */
  osThreadDef(FireTask, StartFireTask, osPriorityNormal, 0, 256);
  FireTaskHandle = osThreadCreate(osThread(FireTask), NULL);

  /* USER CODE BEGIN RTOS_THREADS */
  /* add threads, ... */
  /* USER CODE END RTOS_THREADS */

}

/* USER CODE BEGIN Header_StartLEDTask */
/**
  * @brief  Function implementing the LEDTask thread.
  * @param  argument: Not used
  * @retval None
  */
/* USER CODE END Header_StartLEDTask */
void StartLEDTask(void const * argument)
{
  /* USER CODE BEGIN StartLEDTask */
  /* Infinite loop */
  for(;;)
  {
	HAL_GPIO_TogglePin(LED_G_GPIO_Port,LED_G_Pin);
    osDelay(500);
  }
  /* USER CODE END StartLEDTask */
}

/* USER CODE BEGIN Header_StartDebugTask */
/**
* @brief Function implementing the DebugTask thread.
* @param argument: Not used
* @retval None
*/
/* USER CODE END Header_StartDebugTask */
void StartDebugTask(void const * argument)
{
  /* USER CODE BEGIN StartDebugTask */
  DebugTask_Init();
  /* Infinite loop */
  for(;;)
  {
    DebugTask_Loop();
    vTaskDelay(6);
  }
  /* USER CODE END StartDebugTask */
}

/* USER CODE BEGIN Header_StartManageTask */
/**
* @brief Function implementing the ManageTask thread.
* @param argument: Not used
* @retval None
*/
/* USER CODE END Header_StartManageTask */
void StartManageTask(void const * argument)
{
  /* USER CODE BEGIN StartManageTask */
	ManageTask_Init();
	TickType_t xLastWakeTime;
	xLastWakeTime=xTaskGetTickCount();
  /* Infinite loop */
  for(;;)
  {

      ManageTask_Loop();

    
     vTaskDelayUntil(&xLastWakeTime,5);

  }
  /* USER CODE END StartManageTask */
}

/* USER CODE BEGIN Header_StartPitch_Task */
/**
* @brief Function implementing the Pitch_Task thread.
* @param argument: Not used
* @retval None
*/
/* USER CODE END Header_StartPitch_Task */
void StartPitch_Task(void const * argument)
{
  /* USER CODE BEGIN StartPitch_Task */
  PitchTask_Init();
  /* Infinite loop */
  for(;;)
  {
    PitchTask_Loop();
    // osDelay(1);
  }
  /* USER CODE END StartPitch_Task */
}

/* USER CODE BEGIN Header_StartFireTask */
/**
* @brief Function implementing the FireTask thread.
* @param argument: Not used
* @retval None
*/
/* USER CODE END Header_StartFireTask */
void StartFireTask(void const * argument)
{
  /* USER CODE BEGIN StartFireTask */
  FireTask_Init();
  /* Infinite loop */
  for(;;)
  {
    FireTask_Loop();
    // osDelay(1);
  }
  /* USER CODE END StartFireTask */
}

/* Private application code --------------------------------------------------*/
/* USER CODE BEGIN Application */

/* USER CODE END Application */
